| Number of axis |
2 |
| Number of dedicated inputs |
8 |
| Number of dedicated outputs |
2 |
| Number of general I/O |
4 |
| Input type |
NPN |
| Input signal voltage (ON) |
DC12 … 30V (potential diff.) |
| Input signal voltage (OFF) |
DC-1V … 5V (potential diff.) |
| Input status indication |
Green LED |
| Output type |
NPN |
| Output load type |
Resistive, inductive |
| Output current |
0.45A |
| Peak output current |
0.6A |
| Output status indication |
Red LED |
| Independent
acceleration/deceleration |
No |
| On-the-fly velocity change |
Yes |
| On-the-fly acceleration change |
No |
| Position counter |
32 bits |
| Encoder supported |
Quadrature incremental encoder with index pulse input |
| Encoder Input |
Differential ChA, ChB and ChZ (RS422) |
| Encoder signal |
Max. voltage +/-25VDC |
| Max. encoder input frequency |
6 MHz |
| Control algorithm |
(PID digital filter) with 16-bit coefficients |
| Sampling rate |
180 microseconds |
| Control output |
12-bit analogue +/-10V |
| Interpolation |
None |
| Motion profiles |
Trapezoidal |
| Bus Protocol |
eCAN, CANOpen* |
| Wire connection type |
Screw terminal (0.08mm² … 1mm²) |
| Number of internal registers |
254 bytes |
| Non-volatile storage |
EEPROM |
| Degree of protection |
IP20 |
| Current consumption |
230mA |
| Supply voltage |
DC24V (+/- 20%) |
| Operating temperature |
5°C … 55°C |
| Storage temperature |
-20°C … +80°C |
| Weight |
200gm |
| Dimension (L x W x H) |
72mm x 64mm x 30mm (exclude bus connector) |
| Special functions* |
Anti-collision, Position triggering, Peer to Peer I/O |
| Warranty |
One year limited
warranty |
